Abstract

For a robotic workcell, which consists of multiple robots, several interconnection methods are presented in terms of the processor based architecture. Since few attempts have been made to formulate and analyze multiple robot system(MRS), we turn the knowledge of multiple processor system(MPS) or multiple computer system(MCS) to good account. The performance evaluation is achieved through queueing analysis, the aim being to compare their response time, utilization, probability of service failure under different workload. To verify the validity of the proposed analysis methods, a computer simulation is performed. The results together with comments presented here give some useful guidelines for the selection of an appropriate interconnection method.

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